# A robotic surgical tool with continuum wrist, kinematically optimized curved stem, and collision avoidance kinematics for single port procedure

> Research article (Mechanism and Machine Theory, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4226249088](https://www.wikidata.org/wiki/openalex:W4226249088)  
**Source**: https://4ort.xyz/entity/a-robotic-surgical-tool-with-continuum-wrist-kinematically-optimized-curved-stem-and-collision-avoidance-kinematics-for-